def render_offscreen(self,
width: int,
height: int,
mode: RenderMode = RenderMode.RGB,
camera_id: int = -1) -> np.ndarray:
"""Renders the camera view as a NumPy array of pixels.
Args:
width: The viewport width (pixels).
height: The viewport height (pixels).
mode: The rendering mode.
camera_id: The ID of the camera to render from. By default, uses
the free camera.
Returns:
A NumPy array of the pixels.
"""
mujoco = module.get_dm_mujoco()
# TODO(michaelahn): Consider caching the camera.
camera = mujoco.Camera(physics=self._physics,
height=height,
width=width,
camera_id=camera_id)
# Update the camera configuration for the free-camera.
if camera_id == -1:
self._update_camera(
camera._render_camera, # pylint: disable=protected-access
)
image = camera.render(depth=(mode == RenderMode.DEPTH),
segmentation=(mode == RenderMode.SEGMENTATION))
camera._scene.free() # pylint: disable=protected-access
return image
def _create_solver_sim(self):
from adept_envs.simulation import module
# only support self._use_dm_backend == True
dm_mujoco = module.get_dm_mujoco()
model_file = self.MODEL_TELEOP_SOLVER
if model_file.endswith('.mjb'):
self.solver_sim = dm_mujoco.Physics.from_binary_path(model_file)
else:
self.solver_sim = dm_mujoco.Physics.from_xml_path(model_file)
from adept_envs.simulation.sim_robot import _patch_mjlib_accessors
_patch_mjlib_accessors(self.solver_sim.model, self.solver_sim.data,
True)
def __init__(self, physics, **kwargs):
assert isinstance(physics, module.get_dm_mujoco().Physics), \
'DMRenderer takes a DM Control Physics object.'
super().__init__(**kwargs)
self._physics = physics
self._window = None
# Set the camera to lookat the center of the geoms. (mujoco_py does
# this automatically.
if 'lookat' not in self._camera_settings:
self._camera_settings['lookat'] = [
np.median(self._physics.data.geom_xpos[:, i]) for i in range(3)
]
def __init__(self,
model_file: str,
use_dm_backend: bool = False,
camera_settings: Optional[Dict] = None):
"""Initializes a new simulation.
Args:
model_file: The MuJoCo XML model file to load.
use_dm_backend: If True, uses DM Control's Physics (MuJoCo v2.0) as
the backend for the simulation. Otherwise, uses mujoco_py (MuJoCo
v1.5) as the backend.
camera_settings: Settings to initialize the renderer's camera. This
can contain the keys `distance`, `azimuth`, and `elevation`.
"""
self._use_dm_backend = use_dm_backend
if not os.path.isfile(model_file):
raise ValueError(
'[MujocoSimRobot] Invalid model file path: {}'.format(
model_file))
if self._use_dm_backend:
dm_mujoco = module.get_dm_mujoco()
if model_file.endswith('.mjb'):
self.sim = dm_mujoco.Physics.from_binary_path(model_file)
else:
self.sim = dm_mujoco.Physics.from_xml_path(model_file)
self.model = self.sim.model
_patch_mjlib_accessors(self.model, self.sim.data, self._use_dm_backend)
self.renderer = DMRenderer(
self.sim, camera_settings=camera_settings)
else: # Use mujoco_py
mujoco_py = module.get_mujoco_py()
self.model = mujoco_py.load_model_from_path(model_file)
self.sim = mujoco_py.MjSim(self.model)
self.renderer = MjPyRenderer(
self.sim, camera_settings=camera_settings)
self.data = self.sim.data
def get_mjlib(use_dm_backend):
"""Returns an object that exposes the low-level MuJoCo API."""
if use_dm_backend:
return module.get_dm_mujoco().wrapper.mjbindings.mjlib
else:
return module.get_mujoco_py_mjlib()